package mapmaker.config;

public class Config {

	private static final int SERVER_PORT = 50000; 
	public static String SERVER_URL = "http://localhost:" + SERVER_PORT;
	public static final String SERVER_URL_LASERS_ECHOES = SERVER_URL + "/lokarria/laser/echoes";
	public static final String SERVER_URL_LASERS_PROPERTIES = SERVER_URL + "/lokarria/laser/properties";
	public static final String SERVER_URL_DIFFERENTIAL_DRIVE = SERVER_URL + "/lokarria/differentialdrive";
	public static final String SERVER_URL_LOCALIZATION= SERVER_URL + "/lokarria/localization";
	
	public static final boolean DEBUG = false;
	
	public static final long PERIOD_MAPSAVER = 5000;
	public static final long PERIOD_LASERCHECKER = 100;
	public static final long PERIOD_EXPLORER = 4000;
	public static final int SUBDIVISION_THRESHOLD = 3;
	public static int DEPTH_MAX;
	public static final int WEIGHT_POND = 3;
	public static final double ERROR_IS_ARRIVED = 5 * Math.pow(10, -1);
	public static final double ERROR_ANGLE = 4;
	public static final double DISTANCE_STOP_OBSTACLE = 0.75;
	public static final String MAP_FILE_NAME = "map.gif";
	
	public static final int[][] COLORS = {	
											{0xff,0xff,0xff},
											{0xba,0xde,0xff},
											{0x60,0xb3,0xff},
											{0x12,0x8d,0xff},
											{0xf4,0xff,0x74},
											{0xff,0xdb,0x34},
											{0xff,0xb5,0x34},
											{0xff,0x89,0x34},
											{0xff,0x6d,0x00},
											{0xff,0x37,0x00},
											{0xbf,0x28,0x00},
											{0x87,0x1d,0x00},
											{0x62,0x15,0x00},
											{0x47,0x0f,0x00},
											{0x00,0x00,0x00}, 
											{0x00,0x00,0x00}
										};
	public static final int[][] GREY_COLORS = {	
											{0xff,0xff,0xff},
											{0xee,0xee,0xee},
											{0xdd,0xdd,0xdd},
											{0xcc,0xcc,0xcc},
											{0xbb,0xbb,0xbb},
											{0xaa,0xaa,0xaa},
											{0x99,0x99,0x99},
											{0x88,0x88,0x88},
											{0x77,0x77,0x77},
											{0x66,0x66,0x66},
											{0x55,0x55,0x55},
											{0x44,0x44,0x44},
											{0x33,0x33,0x33},
											{0x22,0x22,0x22},
											{0x11,0x11,0x11}, 
											{0x00,0x00,0x00}
	};
	public static final Double MAX_LASER_RANGE = 40.0;
}
